System and method for controlling a prosthetic device

ABSTRACT

The present invention discloses a system and method for motion recognition and control of a prosthetic device. The system of the present invention uses a movement detector for detecting dimensional motion of a non-disabled physical appendage and generating motion information based on this detecting. The system further includes a microcontroller adapted to be connected to the movement detector for receiving and processing the motion information transmitted from the one or more movement detectors. The system controls a prosthetic device which has actuators that are configured to actuate motion of the prosthetic device based on the processing of the motion information.

BACKGROUND Field of Invention

The present invention relates to a system and method for controlling aprosthetic device, more particularly the present invention relates to asystem and method for controlling a prosthetic device based on movementpatterns perceived from a non-disabled appendage.

Description of Related Art

Prosthetic devices are currently widely used by disabled individuals andthey are generally defined as apparatuses used as artificial substitutesfor a missing body parts, such as an arm, leg, hand or foot. A largenumber of individuals worldwide rely on prosthetic and/or orthoticdevices to compensate for these disabilities, which include asamputation or debilitation, and to assist in the rehabilitation ofinjured limbs.

The number of disabled persons and amputees is increasing each year asthe average age of individuals increases, as does the prevalence ofdebilitating diseases which effect limbs. As a result, the need forprosthetic and orthotic devices is also steadily increasing. Someconventional prostheses are equipped with basic controllers thatartificially mobilize the joints without any interaction from theamputee and are capable of generating only basic motions. Such basiccontrollers do not take into consideration the dynamic conditions of theworking environment or the exact desired motion by the user. The passivenature of these conventional prosthetic leads to movement instability,high energy expenditure on the part of the disabled person or amputee,gait deviations and other short- and long-term negative effects. This isespecially true for arm and leg prostheses.

In recent years, the technology for orthotic and prosthetic devices hasadvanced to include basic sensor systems capable of providing somedegree of feedback control, these sensors have mainly included proximitysensors, load sensors, accelerometers, tactile sensors, pressuresensors, and others. However, the sensors on these devices do notnecessarily account for the user's desired movement as it relates toother functional limbs, and only take into account the movement of theprosthetic itself.

Other more advanced technologies have also been developed, which useelectrical signals from muscle fibers, and transmit these signals to acontroller in the prosthesis for actuating movements. These prosthesesare commonly called myoelectric prosthetics. They operate by usingelectronic sensors to detect minute muscle, nerve, and EMG activity. Theinformation from the sensors then translates this muscle activity (astriggered by the user) into information that its electric motors use tocontrol the artificial limbs movements. Although this is a vastimprovement from other types of prosthetics, including body poweredprosthetics, it is often too expensive and unaffordable for the personsin need.

It is an objective of the present invention, to overcome the currentdrawbacks of available prosthetic devices, and provide a system andmethod of controlling a prosthetic device which is reliable, is notinvasive, and is less costly than current designs.

It is a further objective of the present invention to provide a systemand method of controlling a prosthetic device, which is capable ofinteracting with other physical appendages and other body parts of auser, with limited effort.

SUMMARY OF INVENTION

It is an object of the present invention to provide a system and methodfor the control of a prosthetic device. The system and method aredesigned so that a prosthetic device worn by a user can mimiccorresponding movements made from a non-disabled correspondingappendage, such as a user's non-disabled arm, leg, foot, hand and so on.

It is to be understood that within this text, the use of the term“prosthetic device” or “prosthesis”, is not intended to be limiting, andis defined to incorporate other types of devices or accessories whichcan be worn or controlled by a user, such as for example an orthoticdevice. An orthotic device can be defined as an external orthopedicappliance, that controls movement of specific body parts, e.g. kneebraces, ankle foot braces, arm braces and so on.

In a first embodiment of the present invention, a system is disclosedfor motion recognition and control of a prosthetic device. The system ofthis embodiment is comprised of:

-   -   a movement detector for detecting dimensional motion of a        non-disabled physical appendage and generating motion        information based on said detecting;    -   a microcontroller adapted to be connected to said movement        detector for receiving and processing the motion information        transmitted from the movement detector;    -   a prosthetic device, adapted to be connected to the        microcontroller, wherein the prosthetic device comprises one or        more actuators which are configured to actuate motion of the        prosthetic device based on said processing of the motion        information.

According to an embodiment of the present invention, the prostheticdevice is configured to mimic an identical motion performed by thenon-disabled physical appendage of the user.

In accordance with one embodiment, the movement detector comprises oneor more sensors, which comprise one or more motion sensors and one ormore optical sensors. Preferably, the one or more motion sensorscomprise depth sensors, such as a 9-axis sensor.

The depth sensors also preferably comprise an accelerometer, agyroscope, a magnetometer and an e-compass, or a combination thereof.

In accordance with one embodiment, the processing motion informationcomprises mimicking a motion detected by the movement detector. Thismimicked motion is conducted by the prosthetic device. Preferably, themimicked motion is conducted in real-time by the actuators in theprosthetic device, as it is occurring in the non-disabled appendage. Inone embodiment the one or more actuators comprise one or more motors.

In one embodiment, the one or more optical sensors include cameras,including RGB cameras, IR cameras, or monochrome cameras, or acombination thereof and an IR laser projector.

In one embodiment, the one or more motion sensors are located on orwithin the prosthetic device, or coupled and connected with theprosthetic device.

In one embodiment of the present invention, the prosthetic device is anelectronic prosthetic device. The prosthetic device can comprise one ormore actuators which enable the movement of the prosthetic device.

In accordance with one embodiment of the present invention, theprosthetic device is configured to mimic the motion detected from thenon-disabled physical appendage in real-time. Thereby, the motionscarried out by the non-disabled physical appendage can be mimicked bythe prosthetic appendage as they occur.

In one embodiment, the microcontroller of the present invention isprogrammable using 4GL or 5GL code. This coding language is used toprogram the various motions to be carried out by the prosthetic device,as they are detected from the non-disabled appendage of the user inreal-time.

In a further embodiment, the system of the present invention comprisesmemory component, wherein three dimensional positional data can bestored. The data can be obtained from the movement detector and storedfor use in actuating movement in the prosthetic device at any time bythe user. Therefore, in this embodiment, the prosthetic device does notneed to actuate real-time movements as detected in the non-disabledappendage, but rather can actuate pre-stored movement commands, whichhave either been previously detected and stored from movements ofnon-disabled appendage, or have been independently programmed in thesystem.

In an additional embodiment of the present invention, the system furthercomprises a user interface adapted for programming movement patterns andfor reading and said movement patterns. The movement patters are storedin the memory component, then processed by the microcontroller to sendinstructions to the actuators of the prosthetic device for theparticular movement patterns to be carried out, once they are selectedthrough the user interface.

In a further embodiment, the system comprises an authenticationcomponent which is comprised of authentication data associated with theuser of the prosthetic device. The authentication component connected tothe microcontroller comprising an input/output unit, a processor and amemory for storing the authentication data associated with the user ofthe prosthetic device. This authentication component can comprisebiometric authentication means, wherein the biometric authenticationmeans comprises a collection of data associated with characteristics ofthe non-disabled physical appendage.

In one embodiment, the authentication component input/output unitcollects data associated with characteristics of the non-disabledphysical appendage and stores the characteristics in the memory, anddetermines whether the dimensional motion detected by the motiondetector originates from the non-disabled physical appendage before andas a condition of processing the motion information by themicrocontroller.

In another embodiment, the microcontroller is preprogrammed withobstacle detection and avoidance capabilities. A movement pattern isperformed by the prosthetic device based on the motion detected from thenon-disabled physical appendage, or based on pre-stored movementpatterns in the memory component. If the system detects an obstacle tothe movement of the prosthetic device, then the actuators are instructedto terminate the movement, and/or alternatively take another path whichmay be stored in the memory. If not obstacle is detected then themovement pattern continues as instructed by the microcontroller to theactuators within the prosthetic device.

The present invention also discloses a method of controlling movementsin a prosthetic device. The method of this embodiment comprises thefollowing steps:

-   -   detecting a movement conducted by a non-disabled physical        appendage;    -   transmitting said detected movement to a microcontroller;    -   processing motion information based on the transmitted detected        movement; and    -   actuating motion of the prosthetic device based on the processed        motion information.

In accordance with one embodiment of the present method, the motionactuated by the prosthetic device mimics an identical motion performedby the non-disabled physical appendage.

In accordance with an embodiment of the present method, the movementdetector comprises motion sensors, which can comprise depth sensors,which have depth sensing capabilities, to detect the movement andpositioning of the non-disabled physical appendage in three dimensions.

In one embodiment of the presently disclosed prosthetic control method,the prosthetic device is configured to mimic the motion detected fromthe non-disabled physical appendage in real-time. Thereby, the motionscarried out by the non-disabled physical appendage can be mimicked bythe prosthetic appendage as they are occur.

In a further embodiment of the presently disclosed method, a 4GL or a5GL code is used to program movement commands and positional data of theprosthetic device. This coding language is used to program the variousmotions, to be carried out by the prosthetic device, as they aredetected from the non-disabled appendage of the user.

In a further embodiment, the method further comprises a step ofdetecting obstacles and carrying out obstacle avoidance commands. If anobstacle is detected the movement of the actuators is terminated, and/oran alternate movement path is instructed for the prosthetic device.

In one embodiment, the method further comprises an authentication step,prior to commencing motion commands. This incorporates authenticatingdata associated with the user of the prosthetic device, which comprisescollecting and storing data associated with characteristics of thenon-disabled physical appendage. This can include biometric data.

In a further embodiment, the present method incorporates the storingmotion patterns conducted by the non-disabled appendage, for use inactuating movement in the prosthetic device at any time by the user.Therefore, in this embodiment, the prosthetic device does not need toactuate real-time movements as detected in the non-disabled appendage,but rather can actuate pre-stored movement commands, which have eitherbeen previously detected and stored from movements of non-disabledappendage, or have been independently programmed in the system.

BRIEF DESCRIPTION OF THE FIGURES

The accompanying figures are included to provide a further understandingof the invention, and are incorporated in and constitute a part of thisspecification. The figures illustrate embodiments of the invention and,together with the description, serve to explain the principles of theinvention.

In the figures:

FIG. 1 illustrates a system in accordance with an embodiment of thepresent invention.

FIG. 2 illustrates an embodiment of the present invention.

FIG. 3 illustrates an embodiment of the present invention.

DETAILED DESCRIPTION

In the following Detailed Description, reference is made to theaccompanying drawings, which form a part hereof, and in which is shownby way of illustration specific embodiments in which the invention maybe practiced. Wherever possible, the same reference numbers are used inthe drawings and the description to refer to the same or like parts.Directional terminology, such as “top,” “bottom,” “front,” “back,”“leading,” “trailing,” etc., is used with reference to the orientationof the Figure(s) being described. Because components of embodiments ofthe present invention can be positioned in a number of differentorientations, the directional terminology is used for purposes ofillustration and is in no way limiting. It is to be understood thatother embodiments may be utilized and structural or logical changes maybe made without departing from the scope of the present invention. Thefollowing detailed description, therefore, is not to be taken in alimiting sense, and the scope of the present invention is defined by theappended claims.

Some preferred embodiments of the invention described herein relategenerally to prosthetic and orthotic systems. While the description setsforth various embodiment-specific details, it will be appreciated thatthe description is illustrative only and should not be construed in anyway as limiting the invention. Furthermore, various applications of theinvention, and modifications thereto, which may occur to those who areskilled in the art, are also encompassed by the general conceptsdescribed herein

The present invention pertains to a system and method for control of aprosthetic device. The advantages of the disclosed system and methodwill be made apparent through the detailed description, and include, thecontrol of a prosthetic device, which incorporates a simplified systemof components for sending movement, direction and positional informationfrom a non-disabled appendage, and communicating this information to theprosthetic device, so that the same movement can be mimicked from theprosthetic device.

While the current advancements in this field include various control andsensing means for the operation of robotic/electronic prosthetic limbs,these are limited to the prosthetic device itself, and do not includecomponents which can incorporate movements of another body part, such auser's corresponding arm, leg, hand, foot and so on. Hence it is anobjective of the present invention to provide a system and method whichallows a users healthy (non-disabled) appendage to aid in dictating themovements of a prosthetic appendage. This is particularly useful in theactuation of movements, where both corresponding body parts are requiredto move in unison, or in a specific motion pattern in order to completeda given motion specific task.

The advantages presented herein, include movement mimicking by aprosthetic device in real-time scenarios, or alternatively,pre-programmed and stored movements in a memory component of the system,which can be initiated by the user, without the need for mimickingmovements from the non-disabled appendage. Further advantages will bemade clear by the following description of exemplary embodiments.

Disclosed in the present invention is a system for motion recognitionand control of a prosthetic device. The system comprises:

-   -   a movement detector for detecting dimensional motion of a        non-disabled physical appendage and generating motion        information based on said detecting;    -   a microcontroller adapted to be connected to said movement        detector for receiving and processing the motion information        transmitted from the one or more movement detectors;    -   a prosthetic device, adapted to be connected to the        microcontroller, wherein the prosthetic device comprises one or        more actuators which are configured to actuate motion of the        prosthetic device based on said processing of the motion        information.

In one embodiment of the present invention, the prosthetic device isconfigured to mimic an identical motion performed by the non-disabledphysical appendage.

For purposes of the examples and embodiments described herein, thenon-disabled physical appendage can be a hand, an arm, a let, a foot, aknee, fingers on a hand, joints throughout the body of a user, or othersuch appendages wherein a prosthetic device can be implemented and used.This list of appendages is merely exemplary and is not intended to limitthe scope of the present invention in any way.

As can be seen in FIG. 1, and described in the above embodiment, anon-disabled physical appendage conducts a movement or specific set ofmotions in the x, y, and z directions (i.e. in three dimensions), andthe system is configured so that this movement is detected by a movementdetector 100. The data obtained from the movement detector 100 thentransmitted to a microcontroller 110. This data is used by themicrocontroller to send commands to the prosthetic device 120, whichincorporates one or more actuators. The actuators are coupled to theprosthetic device 120 and carry out these commands and actuate anidentical movement within the prosthetic device 120, as is beingconducted by the non-disabled appendage.

In the present invention, we describe this movement by the prostheticdevice as a mimicking movement, as this movement is directly aligned andclosely identical to the movement conducted by the non-disabledappendage. Thusly, the motion which was conducted by the non-disabledphysical appendage is then mimicked by the prosthetic device 120.

For example, if a user wishes to pick up a specific item with botharms/hands, the user would initiate a movement towards that item withtheir non-disabled appendage, and in real-time, the movement data isreceived from the sensors and cameras and the system can then actuatethe same movement in the prosthetic device, which will result in theuser being able to grasp the item with both hands in a similar fashion.

In one embodiment of the present invention, the movement detector 100comprises one or more motion sensors. The motion sensors can compriseone or more depth sensors 200, and one or more optical sensors. Throughthe use of depth sensors 200, such as a 9-axis sensor, the detector isenabled to perceive multi-dimensional data as to the location, andmovements of the non-disabled appendage. The three-dimensional dataincludes positioning data, and movements in the x, y, and z directions.This data can include information on various types of movements that aretypically carried out by physical appendages, including but not limitedto flexion, extension, adduction, abduction, rotation, andcircumduction.

The movement detector 100 is coupled and connected to the prostheticdevice 120 at a specific angle and position, so that it is capable tocapture the three-dimensional positional and movement data derived fromthe non-disabled appendage. In one embodiment an additional back-upmovement detector can be incorporated and attached to the individual andnot the prosthetic device itself. In a preferred embodiment the movementdetector 100 is embedded within or on the prosthetic device. Themovement detector 100 of the present invention can detect and capturemovement from gestures from angles up to 160 degrees. If it is desiredto capture gestures falling outside this angle range then two or moreunits movement detectors can be incorporated with the prosthetic device.

In one embodiment, the movement detector 100 comprises one or moremotion sensors which are located on or within, or coupled to theprosthetic device 120. Similarly the one or more optical sensors arelocated on or within, or coupled to the prosthetic device 120.

As can be seen in FIG. 2, the one or more depth sensor 200, comprises atleast one of an accelerometer, 220, a gyroscope 240, a magnetometer andor an e-con pass 260. It further comprises one or more optical sensors.

In a preferred embodiment, the one or more optical sensors comprise oneor more cameras, which can comprise RGB cameras, stereoscopic IRcameras, or monochrome cameras, or a combination thereof. The opticalsensors further comprise an IR (infrared) imagining system, which iscomprised of one or more IR cameras, and an IR laser projector. With theuse of an IR laser projector, the one or more cameras can perform 3Dscanning and depth perception of a non-disabled physical appendage as itis moving. The data; information generated and collected from thesecomponents can be used by a microcontroller 110 for actuating motionpatterns by the prosthetic device actuator 120. Known sensors whichcomprise the above listed components and are used for depth imaginingand movement capture can be incorporated into the current proposedsystem, such as for example Intel's RealSense infrared assisted 3Dimagining system, which a person of skill in the art will already befamiliar with.

The prosthetic device 120 operable in the currently disclosed system ispreferably an electronic or robotic type prosthetic. That is theprosthetic is self-powered, and is not a body-type prosthetic whichrequires the user to physically move the prosthetic with their own body.The prosthetic device preferably comprises one or more actuators. Theseactuators allow the prosthetic device to carry out the movements whichare detected from the non-disabled appendage, or pre-programmed orstored movement patterns of the prosthetic.

The actuators can comprise, for example one or more electricallycontrolled motors.

For the actuation of specific movements of the prosthetic device, thesystem incorporates software programs which can be coded using 4GL or5GL code language. The programming of the system includes specificmovement commands and motion pattern commands that can be actuatedwithin the prosthetic device, depending either on the perceivedmovements of the non-disabled appendage, or prior pre-programmed andstored commands.

In one embodiment, the prosthetic device 120 is configured to mimic themotion detected from the non-disabled physical appendage in real-time,as the motion is occurring. In another embodiment, the prosthetic devicecontrol system can be configured to store three-dimension positionaldata and movement pattern commands in a memory component. The movementpatterns can either be independently programmed patterns, or they can bemovement patterns which were previously conducted by the non-disabledappendage and stored within memory of the system for actuating the samemovement in the prosthetic device 120 at a later time.

For example, it can be envisioned that a movement pattern is firstconducted in the real-time operation, wherein the prosthetic device 120is mimicking the operations of the non-disabled appendage, such as awalking motion, from point A to point B. Once this movement has beenconducted in real time, having a specific, pace, direction, duration,and other such variables which are programmable, it can also be storedin the systems memory component as a movement pattern which can berepeated at a later time, without the necessity of the real-timemonitoring of the movements of the non-disabled appendage. Therefore auser can have the option of conducting a specific movement patternthrough already programmed movement patterns, without the necessity ofusing the motion sensors and cameras in real-time.

This can be extremely useful with simple repetitive tasks like walkingfrom one room to another, or opening a door, or pushing wheels on awheelchair, or other such repeatable actions which can be useful to adisabled person fitted with the prosthetic system of the presentinvention.

In one embodiment, the non-disabled physical appendage and theprosthetic device correspond to the same body part. For example, theappendage and the prosthetic device are arms. Alternatively, in anotherembodiment the non-disabled appendage and the prosthetic device do notcorrespond to same body part.

In accordance with further embodiment of the present invention, thedisclosed system further comprises authentication components.

In a further embodiment, the system of the present invention furthercomprises an authentication component, which is comprised ofauthentication data associated with the user of the prosthetic device.The authentication component is connected to the microcontrollercomprising an input/output unit, a processor and a memory for storingthe authentication data associated with the user of the prostheticdevice. The authentication component can be used to filter out perceivedmovements from the motion sensors and cameras, which are nearby in therange of detection, but do not correspond to the movements of thenon-disabled appendage. This noise data picked up from the sensors orcameras can be properly authenticated and filtered out by the presentlydisclosed system, so as to optimize the operations of the prostheticdevice and inhibit any undesired movements.

In one embodiment, the authentication component input/output unitcollects data associated with characteristics of the non-disabledphysical appendage and stores the characteristics in the memory, anddetermines whether the dimensional motion detected by the motiondetector originates from the non-disabled physical appendage before andas a condition of processing the motion information by themicrocontroller.

In one embodiment, the authentication component can comprise biometricauthentication means. The biometric authentication means can be acollection of data associated with characteristics of the non-disabledappendage. Such as for example, hand shape, hand length, finger widthand length, arm width and length, and a variety of combination ofmeasurable biometric parameters.

The use of these authenticating biometric data or parameters would allowfor the operations of the prosthetic device to be ceased, until theauthentication process is conducted. The parameters can be stored inmemory of the system, and used as identifying credentials for theoperation of the prosthesis.

Also disclosed by the present invention is a method for controllingmovements in a prosthetic device, to be used in accordance with theabove described system. The method comprises the following steps:

-   -   detecting a movement conducted by a non-disabled physical        appendage;    -   transmitting said detected movement to a microcontroller;    -   processing motion information based on the transmitted detected        movement; and    -   actuating motion of the prosthetic device based on the processed        motion information.

Similarly, to the previously described system, the currently disclosedmethod motion allows for the prosthetic device to mimic an identicalmotion performed by the non-disabled physical appendage.

In one embodiment, the step of detecting a movement is conducted by amovement detector. In a preferred embodiment, the movement detectorcomprises one or more sensors, and preferably one or more depth sensorsand optical sensors, wherein the optical sensors comprise one or morecameras.

The step of processing motion information comprises converting themotion information to movement command readable by one or moreactuators.

The method further comprises steps wherein in prosthetic device ismimics the motion detected from the physical appendage in real-time.

In another embodiment, the method further comprises storing motionpatterns conducted by the non-disabled appendage, for use in actuatingmovement in the prosthetic device at any time by the user. This processwas previously described above.

The method further comprises a step of using a user interface which isadapted to programming movement patterns and for reading said movementpatterns. Therefore in one embodiment, the processing motion informationcomprises utilizing programmable movement patterns.

In accordance with a further embodiment, the method of controlling aprosthetic device further comprises an authentication step, which usesauthenticating data associated with the user of the prosthetic device.The authentication step comprises use of biometric authentication means.This step can use biometric data collected and stored in the device,wherein the data is associated with characteristics of the non-disabledphysical appendage. Examples of these characteristics were describedabove.

The method further includes authenticating the user by determiningwhether the detected movement originates from the user of the prostheticdevice and actuating the motion of the prosthetic device only if it isthe case.

In one embodiment the method further includes a step of authenticatingthe biometric data, prior to commencing motion commands of theprosthetic device.

As can be seen in FIG. 3, the present method further comprises steps fordetecting obstacles and carrying out obstacle avoidance commands. Forexample, this process starts with a movement that is to be performed bythe prosthetic device, based on the detected movement from thenon-disabled appendage, and or pre-programmed movement patterns whichare stored in the memory system of the prosthetic device. If an obstacleis detected, then the movement to be conducted by the prosthetic deviceis terminated and the user is alerted or another path is configured bythe system. Alternatively, if an obstacle is not detected the movementby the prosthetic device carries on, as detected or as programmed.

For example, it can be envisioned that if a user who is equipped with aprosthetic device desires to go from location A to location B in his orher home repeatedly (provided that the location A is the identicallocation from which the user moved from last time) then the user canreactivate this movement path through a certain gesture for the samemotion path already stored in the memory. If during this movement path,the user comes across an obstacle such as a person standing in the pathor some other object placed in between, the depth sensor 200 which isalready equipped with and communicates a gyroscope, accelerometer andcompass, capable of processing the complex motion fusion algorithmsintegrated with the one or more cameras, can terminate the movement ofthe actuators within the prosthetic device as soon as the obstacle isdetected and alert the user to take another path configured by thesystem automatically or manually.

While selected embodiments have been selected to be illustrated of thepresent invention, and specific examples have been described herein, itwill be obvious to those skilled in the art that various changes andmodifications may be aimed to cover in the appended claims. It will,therefore, be understood by those skilled in the art that the particularembodiments of the invention presented here are by way of illustrationonly, and are not meant to be in any way restrictive; therefore,numerous changes and modifications may be made, and the full use ofequivalents resorted to, without departing from the spirit or scope ofthe invention as outlined in the appended claims.

1. System for motion recognition and control of a prosthetic device, thesystem comprising: a movement detector for detecting dimensional motionof a non-disabled physical appendage and generating motion informationbased on said detecting; a microcontroller adapted to be connected tosaid movement detector for receiving and processing the motioninformation transmitted from the movement detector; a prosthetic device,adapted to be connected to the microcontroller, wherein the prostheticdevice comprises one or more actuators which are configured to actuatemotion of the prosthetic device, based on said processing of the motioninformation.
 2. The system of claim 1, wherein the movement detectorcomprises one or more sensors, wherein the one or more sensors compriseat least one motion sensor and at least one optical sensor.
 3. Thesystem of claim 2, wherein the one or more sensors comprise a depthsensor, wherein the depth sensor comprises at least one of, anaccelerometer, a gyroscope, a magnetometer and an e-compass.
 4. Thesystem of claim 1, wherein the processing motion information comprisesconverting the motion information to movement commands readable by theone or more actuators.
 5. The system of claim 1, wherein the processingmotion information comprises mimicking a motion detected by the movementdetector, wherein the motion is performed by the non-disabled physicalappendage.
 6. The system of claim 2, wherein the at least one opticalsensor comprises one or more cameras, wherein the one or more camerasare RGB or monochrome cameras, or a combination thereof.
 7. The systemof claim 1, wherein the prosthetic device is configured to mimic thedimensional motion detected from the non-disabled physical appendage inreal-time.
 8. The system of claim 1, further comprising a memorycomponent.
 9. The system of claim 8, therein the memory component isconfigured to store three dimensional positional data and movementpatterns obtained from the movement detector.
 10. The system of claim 1,further comprising an authentication component connected to themicrocontroller comprising an input/output unit, a processor and amemory for storing authentication data associated with the user of theprosthetic device.
 11. The system of claim 10, wherein theauthentication component input/output unit collects data associated withcharacteristics of the non-disabled physical appendage and stores thecharacteristics in the memory, and determines whether the dimensionalmotion detected by the motion detector originates from the non-disabledphysical appendage before and as a condition of processing the motioninformation by the microcontroller.
 12. The system of claim 8, thereinthe microcontroller is preprogrammed with obstacle detection andavoidance capabilities, wherein if an obstacle is detected, movementinstructed to the actuators is terminated, and/or an alternate pathstored in the memory component is instructed by the microcontroller. 13.A method for motion recognition and movement control of a prostheticdevice, the method comprising; detecting a movement conducted by anon-disabled physical appendage; transmitting said detected movement toa microcontroller; processing motion information based on thetransmitted detected movement; and actuating motion of the prostheticdevice based on the processed motion information.
 14. The method ofclaim 13, wherein the step of detecting a movement is conducted by amovement detector, wherein the movement detector comprises one or moremotion sensors and one or more optical sensors.
 15. The system of claim13, wherein the processing motion information comprises converting themotion information to movement commands readable by one or moreactuators.
 16. The system of claim 13, wherein the processing motioninformation comprises mimicking a motion detected by the movementdetector, wherein mimicking the motion detected is actuated by theprosthetic device in real-time.
 17. The method of claim 13, wherein theprosthetic device is configured to mimic an identical motion performedby the non-disabled physical appendage.
 18. The method of claim 13,further comprising storing motion patterns which are conducted by thenon-disabled appendage in a memory component, for use in actuatingmovement in the prosthetic device at any time by a user.
 19. The methodof claim 13, further comprising authenticating the user by determiningwhether the detected movement originates from the user of the prostheticdevice and actuating the motion of the prosthetic device only if it isthe case.
 20. The method of claim 13, further comprising detectingobstacles and carrying out obstacle avoidance commands, wherein if anobstacle is detected the movement of the actuators is terminated, and/oran alternate movement path is instructed by the microcontroller.